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<div class="title">point_cloud_geometry_handlers.hpp</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Copyright (c) 2012-, Open Perception, Inc.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> *  All rights reserved.</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment"> *  Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment"> *  modification, are permitted provided that the following conditions</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment"> *  are met:</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"> *   * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment"> *     notice, this list of conditions and the following disclaimer.</span></div>
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<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="comment"> *   * Neither the name of the copyright holder(s) nor the names of its</span></div>
<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="comment"> *     contributors may be used to endorse or promote products derived</span></div>
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<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="comment"> * $Id: point_cloud_handlers.hpp 7678 2012-10-22 20:54:04Z rusu $</span></div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="preprocessor">#ifndef PCL_POINT_CLOUD_GEOMETRY_HANDLERS_IMPL_HPP_</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;<span class="preprocessor">#define PCL_POINT_CLOUD_GEOMETRY_HANDLERS_IMPL_HPP_</span></div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160; </div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="preprocessor">#include &lt;pcl/pcl_macros.h&gt;</span></div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160; </div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt;</div>
<div class="line"><a name="l00046"></a><span class="lineno"><a class="line" href="classpcl_1_1visualization_1_1_point_cloud_geometry_handler_x_y_z.html#a5c53aff0964f0ef9cc9cc6235b532573">   46</a></span>&#160;<a class="code" href="classpcl_1_1visualization_1_1_point_cloud_geometry_handler_x_y_z.html#a5c53aff0964f0ef9cc9cc6235b532573">pcl::visualization::PointCloudGeometryHandlerXYZ&lt;PointT&gt;::PointCloudGeometryHandlerXYZ</a> (<span class="keyword">const</span> PointCloudConstPtr &amp;cloud) </div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;  : pcl::visualization::<a class="code" href="classpcl_1_1visualization_1_1_point_cloud_geometry_handler.html">PointCloudGeometryHandler</a>&lt;<a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>&gt;::<a class="code" href="classpcl_1_1visualization_1_1_point_cloud_geometry_handler.html">PointCloudGeometryHandler</a> (cloud)</div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;{</div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;  <a class="code" href="classpcl_1_1visualization_1_1_point_cloud_geometry_handler.html#a3e80877586c2160810e4c4ce3e32f8f2">field_x_idx_</a> = <a class="code" href="group__common.html#ga2bc4b9a4e25de1d0b00db4e41f0ad682">pcl::getFieldIndex</a> (*cloud, <span class="stringliteral">&quot;x&quot;</span>, <a class="code" href="classpcl_1_1visualization_1_1_point_cloud_geometry_handler.html#a1ae447a3078ddcfdd92429a26227f0fa">fields_</a>);</div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;  <span class="keywordflow">if</span> (<a class="code" href="classpcl_1_1visualization_1_1_point_cloud_geometry_handler.html#a3e80877586c2160810e4c4ce3e32f8f2">field_x_idx_</a> == -1)</div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;    <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;  <a class="code" href="classpcl_1_1visualization_1_1_point_cloud_geometry_handler.html#a85ac6476f006cde64c07a9ab95604f65">field_y_idx_</a> = <a class="code" href="group__common.html#ga2bc4b9a4e25de1d0b00db4e41f0ad682">pcl::getFieldIndex</a> (*cloud, <span class="stringliteral">&quot;y&quot;</span>, <a class="code" href="classpcl_1_1visualization_1_1_point_cloud_geometry_handler.html#a1ae447a3078ddcfdd92429a26227f0fa">fields_</a>);</div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;  <span class="keywordflow">if</span> (<a class="code" href="classpcl_1_1visualization_1_1_point_cloud_geometry_handler.html#a85ac6476f006cde64c07a9ab95604f65">field_y_idx_</a> == -1)</div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;    <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;  <a class="code" href="classpcl_1_1visualization_1_1_point_cloud_geometry_handler.html#ae2f7766e4f7bbdba03b4e13c5909dc29">field_z_idx_</a> = <a class="code" href="group__common.html#ga2bc4b9a4e25de1d0b00db4e41f0ad682">pcl::getFieldIndex</a> (*cloud, <span class="stringliteral">&quot;z&quot;</span>, <a class="code" href="classpcl_1_1visualization_1_1_point_cloud_geometry_handler.html#a1ae447a3078ddcfdd92429a26227f0fa">fields_</a>);</div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;  <span class="keywordflow">if</span> (<a class="code" href="classpcl_1_1visualization_1_1_point_cloud_geometry_handler.html#ae2f7766e4f7bbdba03b4e13c5909dc29">field_z_idx_</a> == -1)</div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;    <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;  <a class="code" href="classpcl_1_1visualization_1_1_point_cloud_geometry_handler.html#a5fa6fe584ff47d57f40bb99154744afe">capable_</a> = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;}</div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160; </div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00063"></a><span class="lineno"><a class="line" href="classpcl_1_1visualization_1_1_point_cloud_geometry_handler_x_y_z.html#a18b82e56c7a39f8492f6bbece2f48275">   63</a></span>&#160;<a class="code" href="classpcl_1_1visualization_1_1_point_cloud_geometry_handler_x_y_z.html#a18b82e56c7a39f8492f6bbece2f48275">pcl::visualization::PointCloudGeometryHandlerXYZ&lt;PointT&gt;::getGeometry</a> (<a class="code" href="classvtk_smart_pointer.html">vtkSmartPointer&lt;vtkPoints&gt;</a> &amp;points)<span class="keyword"> const</span></div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;  <span class="keywordflow">if</span> (!capable_)</div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;    <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160; </div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;  <span class="keywordflow">if</span> (!points)</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;    points = <a class="code" href="classvtk_smart_pointer.html">vtkSmartPointer&lt;vtkPoints&gt;::New</a> ();</div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;  points-&gt;SetDataTypeToFloat ();</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160; </div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;  <a class="code" href="classvtk_smart_pointer.html">vtkSmartPointer&lt;vtkFloatArray&gt;</a> data = <a class="code" href="classvtk_smart_pointer.html">vtkSmartPointer&lt;vtkFloatArray&gt;::New</a> ();</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;  data-&gt;SetNumberOfComponents (3);</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;  vtkIdType nr_points = cloud_-&gt;points.size ();</div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160; </div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;  <span class="comment">// Add all points</span></div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;  vtkIdType j = 0;    <span class="comment">// true point index</span></div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;  <span class="keywordtype">float</span>* pts = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span>*<span class="keyword">&gt;</span> (malloc (nr_points * 3 * <span class="keyword">sizeof</span> (<span class="keywordtype">float</span>)));</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160; </div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;  <span class="comment">// If the dataset has no invalid values, just copy all of them</span></div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;  <span class="keywordflow">if</span> (cloud_-&gt;is_dense)</div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;  {</div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;    <span class="keywordflow">for</span> (vtkIdType i = 0; i &lt; nr_points; ++i)</div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;    {</div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;      pts[i * 3 + 0] = cloud_-&gt;points[i].x;</div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;      pts[i * 3 + 1] = cloud_-&gt;points[i].y;</div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;      pts[i * 3 + 2] = cloud_-&gt;points[i].z;</div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;    }</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;    data-&gt;SetArray (&amp;pts[0], nr_points * 3, 0);</div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;    points-&gt;SetData (data);</div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;  }</div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;  <span class="comment">// Need to check for NaNs, Infs, ec</span></div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;  {</div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;    <span class="keywordflow">for</span> (vtkIdType i = 0; i &lt; nr_points; ++i)</div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;    {</div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;      <span class="comment">// Check if the point is invalid</span></div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;      <span class="keywordflow">if</span> (!pcl_isfinite (cloud_-&gt;points[i].x) || !pcl_isfinite (cloud_-&gt;points[i].y) || !pcl_isfinite (cloud_-&gt;points[i].z))</div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;        <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160; </div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;      pts[j * 3 + 0] = cloud_-&gt;points[i].x;</div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;      pts[j * 3 + 1] = cloud_-&gt;points[i].y;</div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;      pts[j * 3 + 2] = cloud_-&gt;points[i].z;</div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;      <span class="comment">// Set j and increment</span></div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;      j++;</div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;    }</div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;    data-&gt;SetArray (&amp;pts[0], j * 3, 0);</div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;    points-&gt;SetData (data);</div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;  }</div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;}</div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160; </div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt;</div>
<div class="line"><a name="l00114"></a><span class="lineno"><a class="line" href="classpcl_1_1visualization_1_1_point_cloud_geometry_handler_surface_normal.html#a9380a7579414fad9bd3581398bead06e">  114</a></span>&#160;<a class="code" href="classpcl_1_1visualization_1_1_point_cloud_geometry_handler_surface_normal.html#a9380a7579414fad9bd3581398bead06e">pcl::visualization::PointCloudGeometryHandlerSurfaceNormal&lt;PointT&gt;::PointCloudGeometryHandlerSurfaceNormal</a> (<span class="keyword">const</span> PointCloudConstPtr &amp;cloud) </div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;  : pcl::visualization::<a class="code" href="classpcl_1_1visualization_1_1_point_cloud_geometry_handler.html">PointCloudGeometryHandler</a>&lt;<a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>&gt;::<a class="code" href="classpcl_1_1visualization_1_1_point_cloud_geometry_handler.html">PointCloudGeometryHandler</a> (cloud)</div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;{</div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;  <a class="code" href="classpcl_1_1visualization_1_1_point_cloud_geometry_handler.html#a3e80877586c2160810e4c4ce3e32f8f2">field_x_idx_</a> = <a class="code" href="group__common.html#ga2bc4b9a4e25de1d0b00db4e41f0ad682">pcl::getFieldIndex</a> (*cloud, <span class="stringliteral">&quot;normal_x&quot;</span>, <a class="code" href="classpcl_1_1visualization_1_1_point_cloud_geometry_handler.html#a1ae447a3078ddcfdd92429a26227f0fa">fields_</a>);</div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;  <span class="keywordflow">if</span> (<a class="code" href="classpcl_1_1visualization_1_1_point_cloud_geometry_handler.html#a3e80877586c2160810e4c4ce3e32f8f2">field_x_idx_</a> == -1)</div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;    <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;  <a class="code" href="classpcl_1_1visualization_1_1_point_cloud_geometry_handler.html#a85ac6476f006cde64c07a9ab95604f65">field_y_idx_</a> = <a class="code" href="group__common.html#ga2bc4b9a4e25de1d0b00db4e41f0ad682">pcl::getFieldIndex</a> (*cloud, <span class="stringliteral">&quot;normal_y&quot;</span>, <a class="code" href="classpcl_1_1visualization_1_1_point_cloud_geometry_handler.html#a1ae447a3078ddcfdd92429a26227f0fa">fields_</a>);</div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;  <span class="keywordflow">if</span> (<a class="code" href="classpcl_1_1visualization_1_1_point_cloud_geometry_handler.html#a85ac6476f006cde64c07a9ab95604f65">field_y_idx_</a> == -1)</div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;    <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;  <a class="code" href="classpcl_1_1visualization_1_1_point_cloud_geometry_handler.html#ae2f7766e4f7bbdba03b4e13c5909dc29">field_z_idx_</a> = <a class="code" href="group__common.html#ga2bc4b9a4e25de1d0b00db4e41f0ad682">pcl::getFieldIndex</a> (*cloud, <span class="stringliteral">&quot;normal_z&quot;</span>, <a class="code" href="classpcl_1_1visualization_1_1_point_cloud_geometry_handler.html#a1ae447a3078ddcfdd92429a26227f0fa">fields_</a>);</div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;  <span class="keywordflow">if</span> (<a class="code" href="classpcl_1_1visualization_1_1_point_cloud_geometry_handler.html#ae2f7766e4f7bbdba03b4e13c5909dc29">field_z_idx_</a> == -1)</div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;    <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;  <a class="code" href="classpcl_1_1visualization_1_1_point_cloud_geometry_handler.html#a5fa6fe584ff47d57f40bb99154744afe">capable_</a> = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;}</div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160; </div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00131"></a><span class="lineno"><a class="line" href="classpcl_1_1visualization_1_1_point_cloud_geometry_handler_surface_normal.html#a7fd8e1323e59b607d7eb45104dd285ec">  131</a></span>&#160;<a class="code" href="classpcl_1_1visualization_1_1_point_cloud_geometry_handler_surface_normal.html#a7fd8e1323e59b607d7eb45104dd285ec">pcl::visualization::PointCloudGeometryHandlerSurfaceNormal&lt;PointT&gt;::getGeometry</a> (<a class="code" href="classvtk_smart_pointer.html">vtkSmartPointer&lt;vtkPoints&gt;</a> &amp;points)<span class="keyword"> const</span></div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;  <span class="keywordflow">if</span> (!capable_)</div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;    <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160; </div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;  <span class="keywordflow">if</span> (!points)</div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;    points = <a class="code" href="classvtk_smart_pointer.html">vtkSmartPointer&lt;vtkPoints&gt;::New</a> ();</div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;  points-&gt;SetDataTypeToFloat ();</div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;  points-&gt;SetNumberOfPoints (cloud_-&gt;points.size ());</div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160; </div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;  <span class="comment">// Add all points</span></div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;  <span class="keywordtype">double</span> p[3];</div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;  <span class="keywordflow">for</span> (vtkIdType i = 0; i &lt; static_cast&lt;vtkIdType&gt; (cloud_-&gt;points.size ()); ++i)</div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;  {</div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;    p[0] = cloud_-&gt;points[i].normal[0];</div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;    p[1] = cloud_-&gt;points[i].normal[1];</div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;    p[2] = cloud_-&gt;points[i].normal[2];</div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160; </div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;    points-&gt;SetPoint (i, p);</div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;  }</div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;}</div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160; </div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;<span class="preprocessor">#define PCL_INSTANTIATE_PointCloudGeometryHandlerXYZ(T) template class PCL_EXPORTS pcl::visualization::PointCloudGeometryHandlerXYZ&lt;T&gt;;</span></div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;<span class="preprocessor">#define PCL_INSTANTIATE_PointCloudGeometryHandlerSurfaceNormal(T) template class PCL_EXPORTS pcl::visualization::PointCloudGeometryHandlerSurfaceNormal&lt;T&gt;;</span></div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160; </div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;<span class="preprocessor">#endif      </span><span class="comment">// PCL_POINT_CLOUD_GEOMETRY_HANDLERS_IMPL_HPP_</span></div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160; </div>
<div class="ttc" id="aclasspcl_1_1visualization_1_1_point_cloud_geometry_handler_html"><div class="ttname"><a href="classpcl_1_1visualization_1_1_point_cloud_geometry_handler.html">pcl::visualization::PointCloudGeometryHandler</a></div><div class="ttdoc">Base handler class for PointCloud geometry.</div><div class="ttdef"><b>Definition:</b> point_cloud_geometry_handlers.h:62</div></div>
<div class="ttc" id="aclasspcl_1_1visualization_1_1_point_cloud_geometry_handler_html_a1ae447a3078ddcfdd92429a26227f0fa"><div class="ttname"><a href="classpcl_1_1visualization_1_1_point_cloud_geometry_handler.html#a1ae447a3078ddcfdd92429a26227f0fa">pcl::visualization::PointCloudGeometryHandler::fields_</a></div><div class="ttdeci">std::vector&lt; pcl::PCLPointField &gt; fields_</div><div class="ttdoc">The list of fields available for this PointCloud.</div><div class="ttdef"><b>Definition:</b> point_cloud_geometry_handlers.h:129</div></div>
<div class="ttc" id="aclasspcl_1_1visualization_1_1_point_cloud_geometry_handler_html_a3e80877586c2160810e4c4ce3e32f8f2"><div class="ttname"><a href="classpcl_1_1visualization_1_1_point_cloud_geometry_handler.html#a3e80877586c2160810e4c4ce3e32f8f2">pcl::visualization::PointCloudGeometryHandler::field_x_idx_</a></div><div class="ttdeci">int field_x_idx_</div><div class="ttdoc">The index of the field holding the X data.</div><div class="ttdef"><b>Definition:</b> point_cloud_geometry_handlers.h:120</div></div>
<div class="ttc" id="aclasspcl_1_1visualization_1_1_point_cloud_geometry_handler_html_a5fa6fe584ff47d57f40bb99154744afe"><div class="ttname"><a href="classpcl_1_1visualization_1_1_point_cloud_geometry_handler.html#a5fa6fe584ff47d57f40bb99154744afe">pcl::visualization::PointCloudGeometryHandler::capable_</a></div><div class="ttdeci">bool capable_</div><div class="ttdoc">True if this handler is capable of handling the input data, false otherwise.</div><div class="ttdef"><b>Definition:</b> point_cloud_geometry_handlers.h:117</div></div>
<div class="ttc" id="aclasspcl_1_1visualization_1_1_point_cloud_geometry_handler_html_a85ac6476f006cde64c07a9ab95604f65"><div class="ttname"><a href="classpcl_1_1visualization_1_1_point_cloud_geometry_handler.html#a85ac6476f006cde64c07a9ab95604f65">pcl::visualization::PointCloudGeometryHandler::field_y_idx_</a></div><div class="ttdeci">int field_y_idx_</div><div class="ttdoc">The index of the field holding the Y data.</div><div class="ttdef"><b>Definition:</b> point_cloud_geometry_handlers.h:123</div></div>
<div class="ttc" id="aclasspcl_1_1visualization_1_1_point_cloud_geometry_handler_html_ae2f7766e4f7bbdba03b4e13c5909dc29"><div class="ttname"><a href="classpcl_1_1visualization_1_1_point_cloud_geometry_handler.html#ae2f7766e4f7bbdba03b4e13c5909dc29">pcl::visualization::PointCloudGeometryHandler::field_z_idx_</a></div><div class="ttdeci">int field_z_idx_</div><div class="ttdoc">The index of the field holding the Z data.</div><div class="ttdef"><b>Definition:</b> point_cloud_geometry_handlers.h:126</div></div>
<div class="ttc" id="aclasspcl_1_1visualization_1_1_point_cloud_geometry_handler_surface_normal_html_a7fd8e1323e59b607d7eb45104dd285ec"><div class="ttname"><a href="classpcl_1_1visualization_1_1_point_cloud_geometry_handler_surface_normal.html#a7fd8e1323e59b607d7eb45104dd285ec">pcl::visualization::PointCloudGeometryHandlerSurfaceNormal::getGeometry</a></div><div class="ttdeci">virtual void getGeometry(vtkSmartPointer&lt; vtkPoints &gt; &amp;points) const</div><div class="ttdoc">Obtain the actual point geometry for the input dataset in VTK format.</div><div class="ttdef"><b>Definition:</b> point_cloud_geometry_handlers.hpp:131</div></div>
<div class="ttc" id="aclasspcl_1_1visualization_1_1_point_cloud_geometry_handler_surface_normal_html_a9380a7579414fad9bd3581398bead06e"><div class="ttname"><a href="classpcl_1_1visualization_1_1_point_cloud_geometry_handler_surface_normal.html#a9380a7579414fad9bd3581398bead06e">pcl::visualization::PointCloudGeometryHandlerSurfaceNormal::PointCloudGeometryHandlerSurfaceNormal</a></div><div class="ttdeci">PointCloudGeometryHandlerSurfaceNormal(const PointCloudConstPtr &amp;cloud)</div><div class="ttdoc">Constructor.</div><div class="ttdef"><b>Definition:</b> point_cloud_geometry_handlers.hpp:114</div></div>
<div class="ttc" id="aclasspcl_1_1visualization_1_1_point_cloud_geometry_handler_x_y_z_html_a18b82e56c7a39f8492f6bbece2f48275"><div class="ttname"><a href="classpcl_1_1visualization_1_1_point_cloud_geometry_handler_x_y_z.html#a18b82e56c7a39f8492f6bbece2f48275">pcl::visualization::PointCloudGeometryHandlerXYZ::getGeometry</a></div><div class="ttdeci">virtual void getGeometry(vtkSmartPointer&lt; vtkPoints &gt; &amp;points) const</div><div class="ttdoc">Obtain the actual point geometry for the input dataset in VTK format.</div><div class="ttdef"><b>Definition:</b> point_cloud_geometry_handlers.hpp:63</div></div>
<div class="ttc" id="aclasspcl_1_1visualization_1_1_point_cloud_geometry_handler_x_y_z_html_a5c53aff0964f0ef9cc9cc6235b532573"><div class="ttname"><a href="classpcl_1_1visualization_1_1_point_cloud_geometry_handler_x_y_z.html#a5c53aff0964f0ef9cc9cc6235b532573">pcl::visualization::PointCloudGeometryHandlerXYZ::PointCloudGeometryHandlerXYZ</a></div><div class="ttdeci">PointCloudGeometryHandlerXYZ(const PointCloudConstPtr &amp;cloud)</div><div class="ttdoc">Constructor.</div><div class="ttdef"><b>Definition:</b> point_cloud_geometry_handlers.hpp:46</div></div>
<div class="ttc" id="aclassvtk_smart_pointer_html"><div class="ttname"><a href="classvtk_smart_pointer.html">vtkSmartPointer&lt; vtkPoints &gt;</a></div></div>
<div class="ttc" id="agroup__common_html_ga2bc4b9a4e25de1d0b00db4e41f0ad682"><div class="ttname"><a href="group__common.html#ga2bc4b9a4e25de1d0b00db4e41f0ad682">pcl::getFieldIndex</a></div><div class="ttdeci">int getFieldIndex(const pcl::PCLPointCloud2 &amp;cloud, const std::string &amp;field_name)</div><div class="ttdoc">Get the index of a specified field (i.e., dimension/channel)</div><div class="ttdef"><b>Definition:</b> io.h:59</div></div>
<div class="ttc" id="astructpcl_1_1_point_x_y_z_r_g_b_a_html"><div class="ttname"><a href="structpcl_1_1_point_x_y_z_r_g_b_a.html">pcl::PointXYZRGBA</a></div><div class="ttdoc">A point structure representing Euclidean xyz coordinates, and the RGBA color.</div><div class="ttdef"><b>Definition:</b> point_types.hpp:540</div></div>
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